--- /dev/null
+/*
+ * $Id$
+ */
+
+/*
+ * isotpserver.c
+ *
+ * Implements a socket server which understands ASCII HEX
+ * messages for simple TCP/IP <-> ISO 15765-2 bridging.
+ *
+ * General message format: <[data]+>
+ *
+ * e.g. for an eight bytes PDU
+ *
+ * <1122334455667788>
+ *
+ * Valid ISO 15625-2 PDUs have a length from 1-4095 bytes.
+ *
+ * Authors:
+ * Andre Naujoks (the socket server stuff)
+ * Oliver Hartkopp (the rest)
+ *
+ * Copyright (c) 2002-2010 Volkswagen Group Electronic Research
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * Alternatively, provided that this notice is retained in full, this
+ * software may be distributed under the terms of the GNU General
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <libgen.h>
+#include <unistd.h>
+#include <string.h>
+#include <signal.h>
+#include <errno.h>
+
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <sys/uio.h>
+#include <net/if.h>
+#include <netinet/in.h>
+
+#include <linux/can.h>
+#include <linux/can/isotp.h>
+
+#define NO_CAN_ID 0xFFFFFFFFU
+
+int b64hex(char *asc, unsigned char *bin, int len)
+{
+ int i;
+
+ for (i = 0; i < len; i++) {
+ if (!sscanf(asc+(i*2), "%2hhx", bin+i))
+ return 1;
+ }
+ return 0;
+}
+
+void childdied(int i)
+{
+ wait(NULL);
+}
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "\nUsage: %s -l <port> -s <can_id> -d <can_id> [options] <CAN interface>\n", prg);
+ fprintf(stderr, "Options: (* = mandatory)\n");
+ fprintf(stderr, "\n");
+ fprintf(stderr, "ip adressing:\n");
+ fprintf(stderr, " * -l <port> (local port for the server)\n");
+ fprintf(stderr, "\n");
+ fprintf(stderr, "isotp adressing:\n");
+ fprintf(stderr, " * -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " * -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -x <addr> (extended addressing mode)\n");
+ fprintf(stderr, "\n");
+ fprintf(stderr, "padding:\n");
+ fprintf(stderr, " -p <byte> (set and enable tx padding byte)\n");
+ fprintf(stderr, " -r <byte> (set and enable rx padding byte)\n");
+ fprintf(stderr, " -P <mode> (check padding in SF/CF. (l)ength (c)ontent (a)ll)\n");
+ fprintf(stderr, "\n");
+ fprintf(stderr, "rx path: (config, which is sent to the sender / data source)\n");
+ fprintf(stderr, " -b <bs> (blocksize. 0 = off)\n");
+ fprintf(stderr, " -m <val> (STmin in ms/ns. See spec.)\n");
+ fprintf(stderr, " -w <num> (max. wait frame transmissions)\n");
+ fprintf(stderr, "\n");
+ fprintf(stderr, "tx path: (config, which changes local tx settings)\n");
+ fprintf(stderr, " -t <time ns> (transmit time in nanosecs)\n");
+ fprintf(stderr, "\n");
+ fprintf(stderr, "All values except for '-l' and '-t' are expected in hexadecimal values.\n");
+ fprintf(stderr, "\n");
+}
+
+int main(int argc, char **argv)
+{
+ extern int optind, opterr, optopt;
+ int opt;
+
+ int sl, sa, sc; /* (L)isten, (A)ccept, (C)AN sockets */
+ struct sockaddr_in saddr, clientaddr;
+ struct sockaddr_can caddr;
+ static struct can_isotp_options opts;
+ static struct can_isotp_fc_options fcopts;
+ struct ifreq ifr;
+ socklen_t sin_size = sizeof(clientaddr);
+ socklen_t caddrlen = sizeof(caddr);
+
+ struct sigaction signalaction;
+ sigset_t sigset;
+
+ fd_set readfds;
+
+ int i, ret;
+ int nbytes;
+
+ int local_port = 0;
+ int verbose = 0;
+
+ int idx = 0; /* index in txmsg[] */
+
+ unsigned char msg[4096]; /* isotp socket message buffer (4095 + test_for_too_long_byte)*/
+ char rxmsg[8194]; /* isotp->tcp ASCII message buffer (4095*2 + < > \n null) */
+ char txmsg[8193]; /* tcp->isotp ASCII message buffer (4095*2 + < > null) */
+
+ /* mark missing mandatory commandline options as missing */
+ caddr.can_addr.tp.tx_id = caddr.can_addr.tp.rx_id = NO_CAN_ID;
+
+ while ((opt = getopt(argc, argv, "l:s:d:x:p:r:P:b:m:w:t:v?")) != -1) {
+ switch (opt) {
+ case 'l':
+ local_port = strtoul(optarg, (char **)NULL, 10);
+ break;
+
+ case 's':
+ caddr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ caddr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
+ break;
+
+ case 'd':
+ caddr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ caddr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
+ break;
+
+ case 'x':
+ opts.flags |= CAN_ISOTP_EXTEND_ADDR;
+ opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'p':
+ opts.flags |= CAN_ISOTP_TX_PADDING;
+ opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'r':
+ opts.flags |= CAN_ISOTP_RX_PADDING;
+ opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'P':
+ if (optarg[0] == 'l')
+ opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
+ else if (optarg[0] == 'c')
+ opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
+ else if (optarg[0] == 'a')
+ opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
+ else {
+ printf("unknown padding check option '%c'.\n", optarg[0]);
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+ break;
+
+ case 'b':
+ fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'm':
+ fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'w':
+ fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 't':
+ opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
+ break;
+
+ case 'v':
+ verbose = 1;
+ break;
+
+ case '?':
+ print_usage(basename(argv[0]));
+ exit(0);
+ break;
+
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ exit(1);
+ break;
+ }
+ }
+
+ if ((argc - optind != 1) || (local_port == 0) ||
+ (caddr.can_addr.tp.tx_id == NO_CAN_ID) ||
+ (caddr.can_addr.tp.rx_id == NO_CAN_ID)) {
+ print_usage(basename(argv[0]));
+ exit(1);
+ }
+
+ sigemptyset(&sigset);
+ signalaction.sa_handler = &childdied;
+ signalaction.sa_mask = sigset;
+ signalaction.sa_flags = 0;
+ sigaction(SIGCHLD, &signalaction, NULL); /* signal for dying child */
+
+ if((sl = socket(PF_INET, SOCK_STREAM, 0)) < 0) {
+ perror("inetsocket");
+ exit(1);
+ }
+
+ saddr.sin_family = AF_INET;
+ saddr.sin_addr.s_addr = htonl(INADDR_ANY);
+ saddr.sin_port = htons(local_port);
+
+ while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
+ printf(".");
+ fflush(NULL);
+ usleep(100000);
+ }
+
+ if (listen(sl, 3) != 0) {
+ perror("listen");
+ exit(1);
+ }
+
+ while (1) {
+ sa = accept(sl,(struct sockaddr *)&clientaddr, &sin_size);
+ if (sa > 0 ){
+
+ if (fork())
+ close(sa);
+ else
+ break;
+ }
+ else {
+ if (errno != EINTR) {
+ /*
+ * If the cause for the error was NOT the
+ * signal from a dying child => give an error
+ */
+ perror("accept");
+ exit(1);
+ }
+ }
+ }
+
+ if ((sc = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+ perror("socket");
+ exit(1);
+ }
+
+ setsockopt(sc, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+ setsockopt(sc, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
+
+ caddr.can_family = AF_CAN;
+ strcpy(ifr.ifr_name, argv[optind]);
+ if (ioctl(sc, SIOCGIFINDEX, &ifr) < 0) {
+ perror("SIOCGIFINDEX");
+ exit(1);
+ }
+ caddr.can_ifindex = ifr.ifr_ifindex;
+
+ if (bind(sc, (struct sockaddr *)&caddr, caddrlen) < 0) {
+ perror("bind");
+ exit(1);
+ }
+
+ while (1) {
+
+ FD_ZERO(&readfds);
+ FD_SET(sc, &readfds);
+ FD_SET(sa, &readfds);
+
+ ret = select((sc > sa)?sc+1:sa+1, &readfds, NULL, NULL, NULL);
+
+ if (FD_ISSET(sc, &readfds)) {
+
+
+ nbytes = read(sc, &msg, 4096);
+
+ if (nbytes < 1 || nbytes > 4095) {
+ perror("read from isotp socket");
+ exit(1);
+ }
+
+ rxmsg[0] = '<';
+
+ for ( i = 0; i < nbytes; i++)
+ sprintf(rxmsg + 1 + 2*i, "%02X", msg[i]);
+
+ /* finalize string for sending */
+ strcat(rxmsg, ">\n");
+
+ if (verbose)
+ printf("CAN>TCP %s", rxmsg);
+
+ send(sa, rxmsg, strlen(rxmsg), 0);
+ }
+
+
+ if (FD_ISSET(sa, &readfds)) {
+
+ if (read(sa, txmsg+idx, 1) < 1) {
+ perror("read from tcp/ip socket");
+ exit(1);
+ }
+
+ if (!idx) {
+ if (txmsg[0] == '<')
+ idx = 1;
+
+ continue;
+ }
+
+ /* max len is 4095*2 + '<' + '>' = 8192. The buffer index starts with 0 */
+ if (idx > 8191) {
+ idx = 0;
+ continue;
+ }
+
+ if (txmsg[idx] != '>') {
+ idx++;
+ continue;
+ }
+
+ txmsg[idx+1] = 0;
+ idx = 0;
+
+ /* must be an even number of bytes and at least one data byte <XX> */
+ if (strlen(txmsg) < 4 || strlen(txmsg) % 2)
+ continue;
+
+ if (verbose)
+ printf("TCP>CAN %s\n", txmsg);
+
+ nbytes = (strlen(txmsg)-2)/2;
+ if (b64hex(txmsg+1, msg, nbytes) == 0)
+ send(sc, msg, nbytes, 0);
+ }
+ }
+
+ close(sc);
+ close(sa);
+
+ return 0;
+}
projects / socketcan-devel.git / commitdiff